A man will face court after allegedly threatening people with a firearm before stealing a car then crashing it into a pursuing police vehicle at Ipswich in southeast Queensland.

Police say the man threatened three people at an Ipswich address and demanded the keys to a car late on Friday morning.

Officers later spotted the vehicle on the Centenary Highway and its exit at Springfield Central was blocked by a stationary police car.

The driver allegedly stopped and reversed into a following police vehicle before being arrested.

A 34-year-old man has been charged with robbery, failing to stop, dangerous operation of a vehicle, wilful damage and possession of a shortened firearm to appear at Ipswich Magistrates Court on Monday.